CN203091650U - Double-drive forging manipulator achieving straight-line lifting - Google Patents
Double-drive forging manipulator achieving straight-line lifting Download PDFInfo
- Publication number
- CN203091650U CN203091650U CN 201320100794 CN201320100794U CN203091650U CN 203091650 U CN203091650 U CN 203091650U CN 201320100794 CN201320100794 CN 201320100794 CN 201320100794 U CN201320100794 U CN 201320100794U CN 203091650 U CN203091650 U CN 203091650U
- Authority
- CN
- China
- Prior art keywords
- pair
- linear actuator
- turning joint
- lifting
- rod
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
Links
Images
Landscapes
- Forging (AREA)
Abstract
Provided is a double-drive forging manipulator achieving straight-line lifting. A pair of pliers is connected with a plier rod, a rear suspension rod is hinged to the rear end of the plier rod and a rear sliding rod, rear left-right straight-line drivers are fixedly linked with the rear sliding rod and a rear lifting arm, rear auxiliary lifting arms are hinged to the rear lifting arm and a machine frame, rear lifting straight-line drivers are hinged to and fixedly linked with the rear lifting arm and the machine frame, one portion of the plier rod is fixedly linked with a front coordination rod, front suspension rods are hinged to the front coordination rod and a pair of front connecting pieces, the other end of each front connecting piece is hinged to a front sliding rod, front left-right straight-line drivers are fixedly linked with the front sliding rod and front lifting arms, front auxiliary lifting arms are hinged to the front lifting arms and the machine frame, front lifting straight-line drivers are hinged to and fixedly linked with one portion of each front lifting arm and the machine frame respectively, front-back straight-line drivers are hinged to one portion of each front suspension rod and two ends of a rear coordination rod, and a lower connecting rod is hinged to the middle of the rear coordination rod and the pliler rod respectively. The forging manipulator uses double lifting drivers, improves bearing capacity, achieves straight-line lifting, and improves quality and precision of forge pieces.
Description
Technical fieldThe utility model relates to a kind of forging manipulator.
Background technologyForging manipulator is one of secondary process equipment in the forging pressure weight equipment, is the necessaries that improves forging and pressing production efficiency and forging quality.Publication number is that the Chinese patent of CN 101879571 A discloses a kind of forging manipulator lifting mechanism with inclined rear suspension rods, its lifting device adopts the parallel-crank mechanism form, when claw beam is done the translation lifting, also be accompanied by the motion of claw beam front and back, this has brought the error of fore-and-aft direction to lifting.Forging for large-scale long axial workpiece needs two forging manipulators to forge at clamping forging two ends respectively, if the elevating mechanism of forging manipulator is not that straight line rises then when promoting forging completely, can make forging generation moment of flexure, reverse, even produce the forging internal modification, influence forging quality.Publication number is that the Chinese patent of CN102430684A discloses a kind of multifunctional hydraulic track forging manipulator is arranged, and its lifting device adopts single driver and rearmounted mode.The duty of forging manipulator is one and lays particular stress on load condition that whole center of gravity is positioned near the clamp, for large forgings, if with single driver postposition, causes probably to promote the driving force deficiency, can not satisfy job requirement.Publication No. is a kind of upper connecting rod forward-only connecting type forging manipulator that the Chinese patent of CN101607296A discloses, and it adopts two drives structure that promote, and forms redundant drive, though improved bearing capacity, has increased manufacturing and maintenance cost.
Summary of the inventionTwo straight lines that drive that the purpose of this utility model is to provide a kind of bearing capacity height, manufacturing and maintenance cost is low, can effectively improve forging quality and precision promote forging manipulators.The utility model mainly comprises clamp whirligig, lifting device, elevation mount, front and back buffer unit and deflection offset assembly.Described clamp whirligig comprises: claw beam and clamp; Described lifting device comprises: a pair of preceding service hoisting arm, a pair of back service hoisting arm, a pair of preceding bar, a pair of front overhang peg, preceding lift arm, back lift arm, a pair of preceding lifting linear actuator, a pair of back lifting linear actuator, a pair of preceding connector and the rear suspension rods coordinated; Described elevation mount comprises: back lifting linear actuator, back lift arm and rear suspension rods; Described front and back buffer unit comprises: a pair of front and back linear actuator; Described deflection offset assembly comprises: a pair of preceding left and right sides linear actuator, the left and right sides, a pair of back linear actuator.
Wherein, the clamp rear end is connected with the claw beam front end by turning joint, this claw beam rear end is connected with an end of rear suspension rods by ball pivot, the other end of this rear suspension rods is connected with the back slide bar by turning joint, one end of the two ends of this back slide bar and the left and right sides, a pair of back linear actuator connects firmly, the other end of this left and right sides, a pair of back linear actuator connects firmly with an end of back lift arm, the other end of this back lift arm is connected with an end of a pair of back service hoisting arm respectively by turning joint, and the other end of this a pair of back service hoisting arm is connected with frame by turning joint respectively; One end of a pair of back lifting linear actuator is connected with a position of above-mentioned back lift arm respectively by turning joint, and the other end of this a pair of back lifting linear actuator connects firmly with frame respectively; Above-mentioned claw beam connects firmly near a position and the preceding coordination bar middle part of clamp, should be connected with a pair of front overhang peg one end by ball pivot respectively at preceding two ends of coordinating bar, the other end of this a pair of front overhang peg is connected by the end of turning joint with a pair of preceding connector respectively, should be connected on the preceding slide bar by turning joint respectively by the preceding connector other end, should before the two ends of slide bar connect firmly with an end of a pair of preceding left and right sides linear actuator respectively, the other end of this preceding left and right sides linear actuator respectively with a pair of before an end of lift arm connect firmly, the other end of this prerequisite arm is connected with a pair of preceding service hoisting arm one end respectively by turning joint, and the other end of service hoisting arm was connected with frame by turning joint respectively before this was a pair of; A position of lift arm is connected with an end of a pair of preceding lifting linear actuator respectively by turning joint before above-mentioned, and the other end of lifting linear actuator connected firmly with frame respectively before this was a pair of; One end of a pair of front and back linear actuator is connected with a position of above-mentioned front overhang peg by ball pivot respectively, the other end of this a pair of front and back linear actuator is connected with the two ends of back coordination bar respectively by ball pivot, the middle part that one end of lower link is coordinated bar by turning joint and above-mentioned back is connected, and the other end of this lower link is connected on the above-mentioned claw beam by turning joint.
The elevating movement process of the utility model forging manipulator: lift arm and back lift arm before lifting linear actuator and a pair of back lifting linear actuator drive simultaneously before a pair of, band front overhang peg, rear suspension rods are done rectilinear motion up and down, do the straight line elevating movement thereby drive claw beam.Process seesaws: a pair of front and back linear actuator promotes a pair of front overhang peg, back and forth movement before and after connector is done before driving, and then drive claw beam and clamp and do and seesaw.The elevating movement process: lifting linear actuator in back drives the back lift arm, drives the claw beam rear end by rear suspension rods and moves up and down, and does elevating movement thereby drive claw beam.Deflection and offset movement process: slide bar moved before preceding left and right sides linear actuator promoted, and drove a pair of front rod and a pair of front overhang peg, realized transverse movement from the anterior claw beam that drives of claw beam; Back left and right sides linear actuator promotes the back slide bar and moves, and drives rear suspension rods and moves, and drives claw beam from the claw beam rear portion and realizes transverse movement.Current left and right sides linear actuator is consistent with back left and right sides linear actuator driving direction and big or small when identical, and claw beam is realized transverse motion; Linear actuator or driving amount opposite in the current left and right sides with back left and right sides linear actuator driving direction not simultaneously, claw beam is realized oscillating motion.Clamp rotary course: it is rotated around the rear end hinge axes by driving the clamp rear end.
The utility model compared with prior art has following advantage:
1, can realize fully that straight line promotes, eliminate the lifting error of bringing owing to mechanism configuration, improve the quality and the precision of forging effectively.
2, two lifting drivers of the utility model employing lay respectively at the front-end and back-end of hoisting mechanism, have improved the bearing capacity of mechanism effectively, have avoided the requirement of the work of can not satisfying because lifting force is not enough.
3, the lifting linear actuator can be used as the driver of elevating movement behind the utility model, when improving bearing capacity, has reduced manufacturing and maintenance cost again.
Description of drawings
Fig. 1 is the schematic perspective view of the utility model embodiment 1.
Among the figure: coordinate to coordinate behind linear actuator before and after bar, 3-claw beam, the 4-, 5-lower link, the 6-connector before slide bar before service hoisting arm before lifting linear actuator before lift arm before service hoisting arm behind lifting linear actuator behind lift arm behind left and right sides linear actuator behind slide bar behind bar, 7-rear suspension rods, the 8-, the 9-, the 10-, the 11-, the 12-, 13-frame, the 14-, the 15-, the 16-, the preceding left and right sides of 17-linear actuator, the 18-, the 19-, 20-front overhang peg before the 1-clamp, 2-.
The specific embodiment:
Promote in the simplified schematic diagram of forging manipulator at a kind of two driving straight lines shown in Figure 1, clamp 1 rear end is connected with claw beam 3 front ends by turning joint, the claw beam rear end is connected with an end of rear suspension rods 7 by ball pivot, the other end of this rear suspension rods is connected with back slide bar 8 by turning joint, one end of the two ends of this back slide bar and the left and right sides, a pair of back linear actuator 9 connects firmly, the other end of this left and right sides, a pair of back linear actuator connects firmly with an end of back lift arm 10, the other end of this back lift arm is connected with an end of a pair of back service hoisting arm 12 respectively by turning joint, and the other end of this a pair of back service hoisting arm is connected with frame 13 by turning joint respectively; One end of a pair of back lifting linear actuator 11 is connected by the position of turning joint with above-mentioned back lift arm respectively, and the other end of this a pair of back lifting linear actuator connects firmly with frame respectively; Above-mentioned claw beam connects firmly near a position and preceding coordination bar 2 middle parts of clamp, should be connected with a pair of front overhang peg 20 1 ends by ball pivot respectively at preceding two ends of coordinating bar, the other end of this a pair of front overhang peg is connected by the end of turning joint with a pair of preceding connector 19, should be connected on the preceding slide bar 18 by turning joint by the preceding connector other end, should before the two ends of slide bar connect firmly with an end of a pair of preceding left and right sides linear actuator 17 respectively, the other end of this preceding left and right sides linear actuator respectively with a pair of before an end of lift arm 14 connect firmly, the other end of this prerequisite arm is connected with a pair of preceding service hoisting arm 16 1 ends respectively by turning joint, and the other end of service hoisting arm was connected with frame by turning joint respectively before this was a pair of; A position of lift arm is connected with an end of a pair of preceding lifting linear actuator 15 respectively by turning joint before above-mentioned, and the other end of lifting linear actuator connected firmly with frame respectively before this was a pair of; One end of a pair of front and back linear actuator 4 is connected with a position of above-mentioned front overhang peg by ball pivot respectively, the other end of this a pair of front and back linear actuator is connected with the two ends of back coordination bar 6 respectively by ball pivot, the middle part that one end of lower link 5 is coordinated bar by turning joint and above-mentioned back is connected, and the other end of this lower link is connected on the above-mentioned claw beam by turning joint.
Claims (1)
1. two straight lines that drive promote forging manipulator, it is characterized in that: the clamp rear end is connected with the claw beam front end by turning joint, this claw beam rear end is connected with an end of rear suspension rods by ball pivot, the other end of this rear suspension rods is connected with the back slide bar by turning joint, one end of the two ends of this back slide bar and the left and right sides, a pair of back linear actuator connects firmly, the other end of this left and right sides, a pair of back linear actuator connects firmly with an end of back lift arm, the other end of this back lift arm is connected with an end of a pair of back service hoisting arm respectively by turning joint, and the other end of this a pair of back service hoisting arm is connected with frame by turning joint respectively; One end of a pair of back lifting linear actuator is connected with a position of above-mentioned back lift arm respectively by turning joint, and the other end of this a pair of back lifting linear actuator connects firmly with frame respectively; Above-mentioned claw beam connects firmly near a position and the preceding coordination bar middle part of clamp, should be connected with a pair of front overhang peg one end by ball pivot respectively at preceding two ends of coordinating bar, the other end of this a pair of front overhang peg is connected by the end of turning joint with a pair of preceding connector respectively, should be connected on the preceding slide bar by turning joint respectively by the preceding connector other end, should before the two ends of slide bar connect firmly with an end of a pair of preceding left and right sides linear actuator respectively, the other end of this preceding left and right sides linear actuator respectively with a pair of before an end of lift arm connect firmly, the other end of this prerequisite arm is connected with a pair of preceding service hoisting arm one end respectively by turning joint, and the other end of service hoisting arm was connected with frame by turning joint respectively before this was a pair of; A position of lift arm is connected with an end of a pair of preceding lifting linear actuator respectively by turning joint before above-mentioned, and the other end of lifting linear actuator connected firmly with frame respectively before this was a pair of; One end of a pair of front and back linear actuator is connected with a position of above-mentioned front overhang peg by ball pivot respectively, the other end of this a pair of front and back linear actuator is connected with the two ends of back coordination bar respectively by ball pivot, the middle part that one end of lower link is coordinated bar by turning joint and above-mentioned back is connected, and the other end of this lower link is connected on the above-mentioned claw beam by turning joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320100794 CN203091650U (en) | 2013-03-06 | 2013-03-06 | Double-drive forging manipulator achieving straight-line lifting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320100794 CN203091650U (en) | 2013-03-06 | 2013-03-06 | Double-drive forging manipulator achieving straight-line lifting |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203091650U true CN203091650U (en) | 2013-07-31 |
Family
ID=48843095
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320100794 Withdrawn - After Issue CN203091650U (en) | 2013-03-06 | 2013-03-06 | Double-drive forging manipulator achieving straight-line lifting |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203091650U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103157741A (en) * | 2013-03-06 | 2013-06-19 | 燕山大学 | Dual-drive straight-line lifting forging manipulator |
| CN105033147A (en) * | 2015-07-27 | 2015-11-11 | 燕山大学 | Rear-mounted forging manipulator for pitching linear actuator |
-
2013
- 2013-03-06 CN CN 201320100794 patent/CN203091650U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103157741A (en) * | 2013-03-06 | 2013-06-19 | 燕山大学 | Dual-drive straight-line lifting forging manipulator |
| CN103157741B (en) * | 2013-03-06 | 2014-11-12 | 燕山大学 | Dual-drive straight-line lifting forging manipulator |
| CN105033147A (en) * | 2015-07-27 | 2015-11-11 | 燕山大学 | Rear-mounted forging manipulator for pitching linear actuator |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101607296B (en) | Upper connecting rod forward-only connecting type forging manipulator | |
| CN103157741B (en) | Dual-drive straight-line lifting forging manipulator | |
| CN203091650U (en) | Double-drive forging manipulator achieving straight-line lifting | |
| CN202155463U (en) | Lifting mechanism of forging operation machine with little coupling movement | |
| CN202894181U (en) | Forging manipulator capable of optimizing and lifting motion | |
| CN103537604B (en) | A kind of six-freedom-degree manipulator for forging | |
| CN103341584B (en) | Linear lifting forging manipulator for optimizing lifting driving device | |
| CN203091649U (en) | Forging manipulator achieving straight-line lifting under redundant drive | |
| CN104014706B (en) | A kind of large-tonnage trackless forging manipulator lifting mechanism | |
| CN202894191U (en) | Less coupling motor type forging manipulator | |
| CN102941303B (en) | Forging manipulator with few coupled motions | |
| CN103894533B (en) | A kind of full decoupled formula forging manipulator lifting mechanism | |
| CN102935474B (en) | Single-lifting-arm forging manipulator | |
| CN103537598B (en) | Forging manipulator with optimized deflector | |
| CN203091651U (en) | Forging manipulator capable of being lifted in straight line mode | |
| CN202894189U (en) | Lift arm suspension type forging manipulator | |
| CN102935475B (en) | Six-degree-of-freedom forging manipulator with single lifting arm | |
| CN102935477B (en) | Six-degree-of-freedom forging manipulator | |
| CN102935482B (en) | Synchronous connecting rod forwardly-connected forging manipulator | |
| CN103157742B (en) | Redundant drive straight line lifting forging manipulator | |
| CN202894179U (en) | Single lifting arm forging manipulator | |
| CN103909198A (en) | Large-scale forging manipulator mechanism | |
| CN202894183U (en) | Multi-hanging-rod combined-type forging manipulator | |
| CN202894184U (en) | Single lift arm six-degree-freedom forging manipulator | |
| CN102921871A (en) | Multi-suspension-rod combined forging manipulator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20130731 Effective date of abandoning: 20141112 |
|
| RGAV | Abandon patent right to avoid regrant |